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-rw-r--r--mavlink/include/mavlink/v1.0/ualberta/testsuite.h192
1 files changed, 192 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/ualberta/testsuite.h b/mavlink/include/mavlink/v1.0/ualberta/testsuite.h
new file mode 100644
index 000000000..79a6a004a
--- /dev/null
+++ b/mavlink/include/mavlink/v1.0/ualberta/testsuite.h
@@ -0,0 +1,192 @@
+/** @file
+ * @brief MAVLink comm protocol testsuite generated from ualberta.xml
+ * @see http://qgroundcontrol.org/mavlink/
+ */
+#ifndef UALBERTA_TESTSUITE_H
+#define UALBERTA_TESTSUITE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef MAVLINK_TEST_ALL
+#define MAVLINK_TEST_ALL
+static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
+static void mavlink_test_ualberta(uint8_t, uint8_t, mavlink_message_t *last_msg);
+
+static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_test_common(system_id, component_id, last_msg);
+ mavlink_test_ualberta(system_id, component_id, last_msg);
+}
+#endif
+
+#include "../common/testsuite.h"
+
+
+static void mavlink_test_nav_filter_bias(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_nav_filter_bias_t packet_in = {
+ 93372036854775807ULL,
+ 73.0,
+ 101.0,
+ 129.0,
+ 157.0,
+ 185.0,
+ 213.0,
+ };
+ mavlink_nav_filter_bias_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.usec = packet_in.usec;
+ packet1.accel_0 = packet_in.accel_0;
+ packet1.accel_1 = packet_in.accel_1;
+ packet1.accel_2 = packet_in.accel_2;
+ packet1.gyro_0 = packet_in.gyro_0;
+ packet1.gyro_1 = packet_in.gyro_1;
+ packet1.gyro_2 = packet_in.gyro_2;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_nav_filter_bias_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_nav_filter_bias_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_nav_filter_bias_pack(system_id, component_id, &msg , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 );
+ mavlink_msg_nav_filter_bias_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_nav_filter_bias_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 );
+ mavlink_msg_nav_filter_bias_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_to_send_buffer(buffer, &msg);
+ for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+ comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+ }
+ mavlink_msg_nav_filter_bias_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_nav_filter_bias_send(MAVLINK_COMM_1 , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 );
+ mavlink_msg_nav_filter_bias_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_radio_calibration(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_radio_calibration_t packet_in = {
+ { 17235, 17236, 17237 },
+ { 17547, 17548, 17549 },
+ { 17859, 17860, 17861 },
+ { 18171, 18172 },
+ { 18379, 18380, 18381, 18382, 18383 },
+ { 18899, 18900, 18901, 18902, 18903 },
+ };
+ mavlink_radio_calibration_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+
+ mav_array_memcpy(packet1.aileron, packet_in.aileron, sizeof(uint16_t)*3);
+ mav_array_memcpy(packet1.elevator, packet_in.elevator, sizeof(uint16_t)*3);
+ mav_array_memcpy(packet1.rudder, packet_in.rudder, sizeof(uint16_t)*3);
+ mav_array_memcpy(packet1.gyro, packet_in.gyro, sizeof(uint16_t)*2);
+ mav_array_memcpy(packet1.pitch, packet_in.pitch, sizeof(uint16_t)*5);
+ mav_array_memcpy(packet1.throttle, packet_in.throttle, sizeof(uint16_t)*5);
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_radio_calibration_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_radio_calibration_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_radio_calibration_pack(system_id, component_id, &msg , packet1.aileron , packet1.elevator , packet1.rudder , packet1.gyro , packet1.pitch , packet1.throttle );
+ mavlink_msg_radio_calibration_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_radio_calibration_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.aileron , packet1.elevator , packet1.rudder , packet1.gyro , packet1.pitch , packet1.throttle );
+ mavlink_msg_radio_calibration_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_to_send_buffer(buffer, &msg);
+ for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+ comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+ }
+ mavlink_msg_radio_calibration_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_radio_calibration_send(MAVLINK_COMM_1 , packet1.aileron , packet1.elevator , packet1.rudder , packet1.gyro , packet1.pitch , packet1.throttle );
+ mavlink_msg_radio_calibration_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_ualberta_sys_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_message_t msg;
+ uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+ uint16_t i;
+ mavlink_ualberta_sys_status_t packet_in = {
+ 5,
+ 72,
+ 139,
+ };
+ mavlink_ualberta_sys_status_t packet1, packet2;
+ memset(&packet1, 0, sizeof(packet1));
+ packet1.mode = packet_in.mode;
+ packet1.nav_mode = packet_in.nav_mode;
+ packet1.pilot = packet_in.pilot;
+
+
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ualberta_sys_status_encode(system_id, component_id, &msg, &packet1);
+ mavlink_msg_ualberta_sys_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ualberta_sys_status_pack(system_id, component_id, &msg , packet1.mode , packet1.nav_mode , packet1.pilot );
+ mavlink_msg_ualberta_sys_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ualberta_sys_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mode , packet1.nav_mode , packet1.pilot );
+ mavlink_msg_ualberta_sys_status_decode(&msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_to_send_buffer(buffer, &msg);
+ for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+ comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+ }
+ mavlink_msg_ualberta_sys_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+ memset(&packet2, 0, sizeof(packet2));
+ mavlink_msg_ualberta_sys_status_send(MAVLINK_COMM_1 , packet1.mode , packet1.nav_mode , packet1.pilot );
+ mavlink_msg_ualberta_sys_status_decode(last_msg, &packet2);
+ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
+static void mavlink_test_ualberta(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+ mavlink_test_nav_filter_bias(system_id, component_id, last_msg);
+ mavlink_test_radio_calibration(system_id, component_id, last_msg);
+ mavlink_test_ualberta_sys_status(system_id, component_id, last_msg);
+}
+
+#ifdef __cplusplus
+}
+#endif // __cplusplus
+#endif // UALBERTA_TESTSUITE_H
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-31 05:50:23 +0000